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Adhesive toe for gecko robot and movement method thereof

A robot and gecko-like technology, applied in the field of bionic robots, can solve the problems of increasing system complexity and energy consumption, small gecko adhesion and desorption force, etc., and achieve the effect of reducing control difficulty, light weight and clear working principle

Inactive Publication Date: 2011-11-30
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0007] The above-mentioned active driving wall-climbing method increases the complexity and energy consumption of the system, and the adhesion and desorption forces of magnetic adsorption and negative pressure adsorption are constant, which cannot completely simulate the gecko with a large adhesion force in one direction and a larger adhesion force in the other direction. Orientation has the characteristic of less desorption force

Method used

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  • Adhesive toe for gecko robot and movement method thereof
  • Adhesive toe for gecko robot and movement method thereof
  • Adhesive toe for gecko robot and movement method thereof

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specific Embodiment approach 1

[0049] combine Picture 1-1 , 1-2 , 1-3, 1-4, 1-5, 1-6, 1-7, the present embodiment is a flat plate-like adhesive toe structure design and its use method, including viscous material, rigid spring material, rubber flexible material , End fixture. Such as Picture 1-1 As shown, the viscous material is a double-sided viscous material. The viscous material is adhered to one side of the rubber flexible material. Corresponding fixation ensures that the adhesive material based on the rubber flexible material assumes the shape of a plate. Such as Figure 1-2 As shown in the figure, when sticking the flat toe, follow the sequence shown in the figure and its adhesion movement trajectory. In the early stage, the toe can be in contact with the smooth surface of the adhesion at a certain angle, and the root will form a certain arc forward after the contact begins. The movement, degree of curvature of the arc will affect the value of the maximum adhesion force. The end of the adhesive t...

specific Embodiment approach 2

[0056] Below in conjunction with accompanying drawing and specific embodiment the present invention is described in further detail:

[0057] combine diagram 2-1 , 2-2 , 2-3, 2-4, 2-5, this embodiment is a semi-arc adhesive toe structure design and its use method, including viscous material, rigid spring material, rubber flexible material, and end fixing device. Such as diagram 2-1 As shown, the viscous material is a double-sided viscous material. The viscous material is adhered to one side of the rubber flexible material. Corresponding fixation ensures that the adhesive material based on the rubber flexible material presents a semi-curved shape. Such as Figure 2-2 As shown, the semi-arc-shaped adhesion of the toe can be adhered according to the sequence shown in the figure and its adhesion movement track 1. In the early stage, the toe can be in parallel contact with the smooth surface of the adhesion, and the root will form a certain arc backward after the contact begin...

specific Embodiment approach 3

[0058] Below in conjunction with accompanying drawing and specific embodiment the present invention is described in further detail:

[0059] combine Figure 3-1 , 3-2 , 3-3, this embodiment is a full arc adhesive toe structure design and its use method, including viscous material, rigid spring material, rubber flexible material, and end fixing device. Such as Figure 3-1 As shown, the adhesive material is a double-sided adhesive material, and the adhesive material is adhered to one side of the rubber flexible material, and the rigid spring material and the rubber flexible material are fixed by the end fixing device at the root of the toe, so as to ensure that the adhesive material based on the rubber flexible material Presents a full arc. Such as Figure 3-2 As shown in the figure, when the full-arc adhesive toes are adhered, the sequence shown in the figure and the adhesive movement track can be followed. In the early stage, the toes can be placed in vertical contact with...

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Abstract

The invention relates to an adhesive toe for a gecko robot and a movement method thereof and belongs to the field of technical application of biomorphic robots. The toe comprises a flexible material toe base (c) and a sticky material layer (a) which is embedded into the flexible material toe base (c), wherein the height of the lower bottom surface of the sticky material layer (a) is equal to thatof the flexible material toe base (c); and a spring layer (b) is also formed on the flexible material toe base (c). The toe has three specific structures, namely flat-shaped, semi-arc and arched stereo structures with bending of 180 degrees. According to the characteristic of a special cantilever type structure, the driven mode is adopted, so that the characteristics that the toe has the larger adhesion in one direction and the smaller desorption force in the negative direction are provided, and the mechanical anisotropy characteristics that a gecko has the larger adhesion in the one direction and the smaller desorption force in the negative direction can be simulated fully and are applied to the gecko robot.

Description

technical field [0001] The invention belongs to the application field of bionic robot technology, and in particular relates to a structural design of a gecko-like toe and a method for using the same, which is mainly used in the design of the feet of a gecko-like wall-climbing robot to realize wall-climbing motion. Background technique [0002] Large geckos can move freely and flexibly on different normal surfaces such as the ground, steep walls, and ceilings. The gecko's ability to move has become an object of research and imitation by scientists. Wall-climbing robots can work on dangerous and steep vertical surfaces, and have a wide range of applications in the fields of building outer wall cleaning, ship inspection, and aerospace extravehicular maintenance, so they are valued by various developed countries. Like a gecko, a gecko-like crawling robot that can crawl on vertical walls and ceilings is one of the most advanced hot issues in bionic robots in the world. Adsorpti...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/024
Inventor 俞志伟戴振东张昊李宏凯宫俊张晓峰
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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